CN109794964A - The submissive performance testing device of static state applied to industrial robot - Google Patents
The submissive performance testing device of static state applied to industrial robot Download PDFInfo
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- CN109794964A CN109794964A CN201910178094.4A CN201910178094A CN109794964A CN 109794964 A CN109794964 A CN 109794964A CN 201910178094 A CN201910178094 A CN 201910178094A CN 109794964 A CN109794964 A CN 109794964A
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- 230000003068 static effect Effects 0.000 title claims abstract description 67
- 238000006073 displacement reaction Methods 0.000 claims description 53
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- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000011056 performance test Methods 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The present invention relates to a kind of submissive performance testing devices of static state applied to industrial robot, including loading direction adjusts component and loading force adjusts component.Loading direction adjusts the force side of component and the end mechanical splice connection of industrial robot and the Impact direction for adjusting end mechanical splice.It includes lever, first order counterweight and second level counterweight that loading force, which adjusts component, lever has fixed part and lever can be rotated around fixed part, the force side that loading direction adjusts component is connect with lever, first order counterweight is hung on lever, second level counterweight hangs on lever and can move along lever, the weight of first order counterweight is greater than the weight of second level counterweight, and first order counterweight and second level counterweight are respectively positioned on the side that loading direction adjusts the force side of component.
Description
Technical field
The present invention relates to industrial robot technical field of performance test, more particularly to the static state for being applied to industrial robot
Submissive performance testing device.
Background technique
In recent years, industry of industrial robots growth momentum is swift and violent, and industry size and the market space also constantly expand.Industrial machine
Critical support equipment of the device people as advanced manufacturing industry, be measure country manufacturing industry level and scientific and technological strength it is important
Mark post.And the static flexibility test of industrial robot is the important link in industrial robot performance test, static flexibility
Refer to the maximum displacement for acting on the per unit load of industrial robot end mechanical splice.But traditional industrial machine
Structure is complicated mostly for the static submissive performance testing device of people, expensive, it is difficult to meet the needs of actual production.
Summary of the invention
Based on this, it is necessary to provide a kind of submissive performance testing device of static state applied to industrial robot, this is applied to
The submissive performance testing device structure of static state of industrial robot is simple, and low in cost and operation is convenient.
A kind of submissive performance testing device of static state applied to industrial robot, comprising:
Loading direction adjusts component, and the loading direction adjusts the force side of component and the end machinery of industrial robot connects
The Impact direction of head connection and the end mechanical splice for adjusting industrial robot；And
Loading force adjusts component, including lever, first order counterweight and second level counterweight, and the lever has fixed part and institute
Stating lever can rotate around the fixed part, and the force side that the loading direction adjusts component is connect with the lever, and described first
Grade load weight is hung on the lever, and the second level counterweight hangs on the lever and can move along the lever,
The weight of the first order counterweight is greater than the weight of the second level counterweight, and the first order counterweight and the second level counterweight are equal
The side of the force side of component is adjusted positioned at the loading direction.
The above-mentioned submissive performance testing device of static state applied to industrial robot, it is adjustable to adjust component by loading direction
The Impact direction of the end mechanical splice of industrial robot.The end of the adjustable industrial robot of component is adjusted by loading force
The stress size of mechanical splice, to control the stress size of the end machinery mouth of industrial robot.Loading force adjusts component master
Will first order counterweight on the lever that connect of force side by adjusting component with loading direction and second level counterweight add to adjust
Carry the size of power.The weight of first order counterweight is greater than the weight of second level counterweight, and the number by increasing and decreasing first order counterweight can be with
It is preliminary to adjust loading force, and can the location of on lever by the number of increase and decrease second level counterweight or change second level counterweight
Further accurately to adjust loading force.The submissive performance testing device structure of static state for being applied to industrial robot is simple, cost
It is cheap, loading force is controlled without using complicated servo motor or oil cylinder.In addition, should be applied to the static soft of industrial robot
Along performance testing device in direction and the size for adjusting loading force, it is also more convenient to operate.
The submissive performance testing device of static state applied to industrial robot further includes end in one of the embodiments,
End load cube head, the end load cube head are fixed at the end mechanical splice of robot, and the loading direction is adjusted
The force side of component is connect with end load cube head and the Impact direction for adjusting the end load cube head.
It further includes third level counterweight that the loading force, which adjusts component, in one of the embodiments, the third level counterweight
It being sheathed on the lever and can be moved along the lever, the weight of the third level counterweight is less than the second level counterweight,
The first order counterweight, the second level counterweight and the third level counterweight are respectively positioned on the stress that the loading direction adjusts component
The side at end.
It includes traction rope and fixed pulley group that the loading direction, which adjusts component, in one of the embodiments, described to determine cunning
Wheel group includes at least four fixed pulleys, and one end of the traction rope is connect with the end mechanical splice of the industrial robot, institute
State the other end of traction rope connect around the fixed pulley with the lever or the other end of the traction rope directly with the thick stick
The Impact direction of the end mechanical splice of industrial robot can be changed in bar connection, the fixation position by changing the fixed pulley.
Xyz is established as origin using the geometric center of the end mechanical splice of industrial robot in one of the embodiments,
Coordinate system, the fixed pulley group include six fixed pulleys, respectively the first fixed pulley, the second fixed pulley, third fixed pulley, the 4th
The line of centres and z-axis of fixed pulley, the 5th fixed pulley and the 6th fixed pulley, first fixed pulley and second fixed pulley are flat
It goes and is located in plane determined by z-axis and y-axis；The line of centres and z-axis of the third fixed pulley and the 4th fixed pulley
In parallel and it is located in plane determined by z-axis and x-axis；5th fixed pulley and the equal position of the 6th fixed pulley and z-axis are tangent
And it is located at two sides or the 5th fixed pulley and described 6th fixed sliding of the end mechanical splice of the industrial robot
Wheel is respectively positioned on the lower section of the end mechanical splice of the industrial robot and the 5th fixed pulley and the 6th fixed pulley are equal
It is tangent with the negative direction of z-axis.
The submissive performance testing device of static state applied to industrial robot further includes drawing in one of the embodiments,
Force snesor and displacement sensor, the tension sensor are used to detect the loading direction and adjust suffered by the force side of component
Pulling force, institute's displacement sensors be used for detect the industrial robot end mechanical splice displacement.
Institute's displacement sensors are laser tracking transducer, the laser tracking transducer in one of the embodiments,
Including laser tracker and laser target, the laser target is set on the end mechanical splice of the industrial robot, described
Laser tracker is for real-time tracing and acquires laser target target displacement information.
The submissive performance testing device of static state applied to industrial robot further includes number in one of the embodiments,
According to analyzer, the data-analyzing machine is electrically connected with the tension sensor, institute's displacement sensors, the data analysis
Device calculates analysis and obtains the quiet of industrial robot by the testing result of the reception tension sensor and institute's displacement sensors
The submissive performance of state.
The submissive performance testing device of static state applied to industrial robot further includes drawing in one of the embodiments,
Force data Acquisition Instrument, the pulling force data Acquisition Instrument is electrically connected with the tension sensor, the data-analyzing machine, described
Pulling force data Acquisition Instrument is used to collect the testing result of the tension sensor, and the testing result of the tension sensor is passed
Pass the data-analyzing machine.
The submissive performance testing device of static state applied to industrial robot further includes position in one of the embodiments,
Sensing controler is moved, the displacement sensing controller is electrically connected with institute displacement sensors, the data-analyzing machine, described
Displacement sensing controller is used to control the operating of institute's displacement sensors, and the displacement sensing controller is also used to collect institute's rheme
The testing result of displacement sensor, and the testing result of displacement sensor is passed into data-analyzing machine.
Detailed description of the invention
Fig. 1 is the structure for being applied to the submissive performance testing device of static state of industrial robot described in one embodiment of the invention
Schematic diagram；
Fig. 2 is that the submissive performance testing device of static state shown in Fig. 1 applied to industrial robot connects for testing end machinery
Schematic diagram when the static flexibility of the z-axis negative direction of head；
Fig. 3 is that the submissive performance testing device of static state shown in Fig. 1 applied to industrial robot connects for testing end machinery
Schematic diagram when the static flexibility of the z-axis positive direction of head；
Fig. 4 is that the submissive performance testing device of static state shown in Fig. 1 applied to industrial robot connects for testing end machinery
Schematic diagram when the static flexibility of the negative direction of the y-axis of head；
Fig. 5 is that the submissive performance testing device of static state shown in Fig. 1 applied to industrial robot connects for testing end machinery
Schematic diagram when the static flexibility of the positive direction of the y-axis of head；
Fig. 6 is that the submissive performance testing device of static state shown in Fig. 1 applied to industrial robot connects for testing end machinery
Schematic diagram when the static flexibility of the negative direction of the x-axis of head；
Fig. 7 is that the submissive performance testing device of static state shown in Fig. 1 applied to industrial robot connects for testing end machinery
Schematic diagram when the static flexibility of the positive direction of the x-axis of head.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with attached drawing and specific embodiment party
Formula, the present invention is further described in detail.It should be understood that the specific embodiments described herein are only to solve
The present invention is released, and the scope of protection of the present invention is not limited.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
As shown in Figure 1, one embodiment of the invention proposes that a kind of submissive performance testing device 10 of static state is (hereinafter referred to as static soft
Along performance testing device 10), including loading direction adjusts component and loading force adjusts component.The submissive performance testing device of the static state
10 structures are simple, and low in cost and operation is convenient.
Specifically, the force side that loading direction adjusts component connect and uses with the end mechanical splice 21 of industrial robot 20
In the Impact direction for the end mechanical splice 21 for adjusting industrial robot 20.Optionally, it includes traction that loading direction, which adjusts component,
Rope and fixed pulley group, fixed pulley group include at least four fixed pulleys.In the present embodiment, traction rope is wirerope.Wirerope has
The toughness of increasing, is hardly damaged during the test.
In the present embodiment, xyz coordinate is established as origin using the geometric center of the end mechanical splice 21 of industrial robot 20
System.Fixed pulley group includes six fixed pulleys, respectively the first fixed pulley 211, the second fixed pulley 212, third fixed pulley 213, the
Four fixed pulleys 214, the 5th fixed pulley 215 and the 6th fixed pulley 216.The center of first fixed pulley 211 and the second fixed pulley 212 connects
Line is parallel with z-axis and is located in plane determined by z-axis and y-axis；The center of third fixed pulley 213 and the 4th fixed pulley 214 connects
Line is parallel with z-axis and is located in plane determined by z-axis and x-axis；5th fixed pulley 215 and the 6th fixed pulley 216 with z-axis phase
Cut and be located at two sides or the 5th fixed pulley 215 and the 6th fixed pulley of the end mechanical splice 21 of industrial robot 20
216 be respectively positioned on the lower section of the end mechanical splice 21 of industrial robot 20 and the 5th fixed pulley 215 and the 6th fixed pulley 216 with
The negative direction of z-axis is tangent.
Specifically, as shown in Figure 1, it includes lever 310, first order counterweight 320 and second level counterweight that loading force, which adjusts component,
330.Lever 310 has fixed part 311 and lever 310 can be rotated around fixed part 311.Loading direction adjust component force side with
Lever 310 connects, and first order counterweight 320 hangs on lever 310, and second level counterweight 330 hangs on lever 310 and can be along
Lever 310 is mobile, and the weight of first order counterweight 320 is greater than second level counterweight 330, first order counterweight 320 and second level counterweight 330
It is respectively positioned on the side that loading direction adjusts the force side of component.In the present embodiment, lever 310 is equipped with scale, facilitates adjusting the
The moving distance of class 2nd weight 330.
Specifically, one end of traction rope is connect with the end mechanical splice 21 of industrial robot 20, the other end of traction rope
It is connect around fixed pulley with lever 310 or the other end of traction rope is directly connect with lever 310, by the fixation for changing fixed pulley
The Impact direction of the end mechanical splice 21 of industrial robot 20 can be changed in position.The setting structure is simple, low in cost, passes through
The winding mode of the fixation position and traction rope that change fixed pulley is the end mechanical splice 21 of changeable industrial robot 20
Impact direction, it is easy to operate, it is time saving and energy saving.
Further, static submissive performance testing device 10 further includes fixing seat 400, and the fixed part 311 of lever 310 can turn
It is fixed in fixing seat 400 dynamicly.In the present embodiment, the fixed part 311 and fixing seat 400 of lever 310 are hinged.The setting can lead to
Counterweights at different levels are overregulated to change the stress size that loading direction adjusts the force side of component.Specifically, industrial robot 20
End mechanical splice 21 is located at the top of lever 310, and loading direction adjusts the force side of component, first order counterweight 320 and second
Grade counterweight 330 is respectively positioned on the side of fixed part 311.In the present embodiment, the first order counterweight 320 and second level counterweight 330 are equal
The side of the force side of component is adjusted positioned at loading direction, fixed part 311 is located at the another of the force side of loading direction adjusting component
Side.According to 310 principle F1 × L1=F2 of lever × L2 (F1 indicate first order counterweight 320 and second level counterweight 330 gravity,
F2 indicates that loading direction adjusts loading force suffered by the force side of component, and L1 indicates first order counterweight 320 and second level counterweight
330 arrive the distance of fixed part 311, and L2 indicates that loading direction adjusts the force side of component to the distance of fixed part 311), due to L1
Greater than L2, therefore F1 is less than F2, therefore, it can be achieved that is realized by the counterweight of smaller quality mechanical to the end of industrial robot 20
The change by a relatively large margin of the loading force of connector 21.
In other embodiments, the lower section of lever 310 can also be located at the end mechanical splice 21 of industrial robot 20, is added
The force side for carrying direction adjusting component is located at the side of fixed part 311, and first order counterweight 320 and second level counterweight 330 are respectively positioned on
The other side of fixed part 311.Above-mentioned setting each contributes to form stable lever system, in order to by adjust counterweights at different levels come
Change the stress size that loading direction adjusts the force side of component.
In the present embodiment, fixing seat 400 is fixed on ground, and certainly, in other embodiments, fixing seat 400 can also be with
Vertically (it is understood that here vertically not merely refer to absolute upright, also certain error should be allowed to exist, as long as
Can be realized purpose, each fall in protection scope) other set-up modes are fixed on vertical metope or use, as long as can be real
Existing lever 310 is rotated around fixed part 311.
Further, it further includes third level counterweight 340 that loading force, which adjusts component, and third level counterweight 340 is sheathed on lever 310
It can move above and along lever 310, the weight of third level counterweight 340 is less than second level counterweight 330, first order counterweight 320, second
Grade counterweight 330 and third level counterweight 340 are respectively positioned on the side that loading direction adjusts the force side of component.Due to third level counterweight
340 weight is less than second level counterweight 330 and third level counterweight 340 is sheathed on lever 310, therefore can be by adjusting the third level
Position of the counterweight 340 on lever 310 carries out more accurate adjusting to loading force, more accurately measures industrial robot
The 20 submissive performance of static state.In the present embodiment, third level counterweight 340 is threadedly coupled with lever 310, consequently facilitating accurate control the
Movement of the class 3rd weights 340 on lever 310, to realize that the precision to loading force size controls.Specifically, third level counterweight
340 are located at the one end of lever 310 far from fixing seat 400, so as to be realized by the third level counterweight 340 of smaller quality to work
The change by a relatively large margin of the loading force of the end mechanical splice 21 of industry robot 20.
In this way, passing through the setting of first order counterweight 320, second level counterweight 330 and third level counterweight 340, so that the static state
Submissive performance testing device 10 is able to satisfy in the static flexibility experiment of industrial robot 20, required specified loading force adjustable range
(about 3kg~1000kg, such as 3kg, 6kg, 20kg, 250kg) and degree of regulation height greatly is (from 10% specified loading force with 10%
Amplification be gradually increased to 100% specified loading force) requirement.
Specifically, the connecting pin of lever 310 and traction rope is located in the negative direction of y-axis.Traction rope has six, respectively z
Axis negative sense loads traction rope 221, z-axis forward direction load traction rope 222, y-axis negative sense load traction rope 223, the load traction of y-axis forward direction
Rope 224, x-axis negative sense load traction rope 225 and x-axis forward direction load traction rope 226.
When testing the static flexibility of the z-axis negative direction of end mechanical splice 21 of industrial robot 20, such as Fig. 2 institute
Show, connect one end of z-axis negative sense load traction rope 221 with the end mechanical splice 21 of industrial robot 20, the load of z-axis negative sense
The other end of traction rope 221, which is directly connect with lever 310, can measure.
When testing the static flexibility of the z-axis positive direction of end mechanical splice 21 of industrial robot 20, such as Fig. 3 institute
Show, the 5th fixed pulley 215 is tangent with z-axis positive direction and is located at z-axis close to the side of the first fixed pulley 211, the 6th fixed pulley 216
It is tangent with z-axis negative direction and be located at z-axis close to the side of the second fixed pulley 212, the first fixed pulley 211 and the 5th fixed pulley 215
The line of centres be parallel to the line of centres of the second fixed pulley 212 and the 6th fixed pulley 216, z-axis forward direction loads traction rope 222
One end is connect with the end mechanical splice 21 of industrial robot 20, and the other end of z-axis forward direction load traction rope 222 successively bypasses the
The top of five fixed pulleys 215, the first fixed pulley 211 top, the bottom of the second fixed pulley 212 and the top of the 6th fixed pulley 216
Portion is connect with lever 310.
When testing the static flexibility of the negative direction of the y-axis of end mechanical splice 21 of industrial robot 20, such as Fig. 4 institute
Show, the first fixed pulley 211 is located in the negative direction of y-axis, and the second fixed pulley 212 is located at the lower section of the first fixed pulley 211, and the 6th is fixed
Pulley 216 is tangent with z-axis negative direction and is located at z-axis close to the side of the second fixed pulley 212, and y-axis negative sense loads traction rope 223
One end is connect with the end mechanical splice 21 of industrial robot 20, and the other end of y-axis negative sense load traction rope 223 successively bypasses the
The top at the top of one fixed pulley 211, the bottom of the second fixed pulley 212 and the 6th fixed pulley 216 is connect with lever 310.
When testing the static flexibility of the positive direction of the y-axis of end mechanical splice 21 of industrial robot 20, such as Fig. 5 institute
Show, the first fixed pulley 211 is located in the positive direction of y-axis, and the second fixed pulley 212 is located at the lower section of the first fixed pulley 211, and the 6th is fixed
Pulley 216 is tangent with z-axis negative direction and is located at z-axis close to the side of the second fixed pulley 212, and y-axis forward direction loads traction rope 224
One end is connect with the end mechanical splice 21 of industrial robot 20, and the other end of y-axis forward direction load traction rope 224 successively bypasses the
The top at the top of one fixed pulley 211, the bottom of the second fixed pulley 212 and the 6th fixed pulley 216 is connect with lever 310.
When testing the static flexibility of the negative direction of the x-axis of end mechanical splice 21 of industrial robot 20, such as Fig. 6 institute
Show, third fixed pulley 213 is located in the negative direction of x-axis, and the 4th fixed pulley 214 is located at the lower section of third fixed pulley 213, and the 5th is fixed
Pulley 215 is tangent with z-axis negative direction and is located at z-axis close to the side of the 4th fixed pulley 214, and x-axis negative sense loads traction rope 225
One end is connect with the end mechanical splice 21 of industrial robot 20, and the other end of x-axis negative sense load traction rope 225 successively bypasses the
Top, the bottom of the 4th fixed pulley 214 and the top of the 5th fixed pulley 215 of three fixed pulleys 213 are connect with lever 310.
When testing the static flexibility of the positive direction of the x-axis of end mechanical splice 21 of industrial robot 20, such as Fig. 7 institute
Show, third fixed pulley 213 is located in the positive direction of x-axis, and the 4th fixed pulley 214 is located at the lower section of third fixed pulley 213, and the 5th is fixed
Pulley 215 is tangent with z-axis negative direction and is located at z-axis close to the side of the 4th fixed pulley 214, and x-axis forward direction loads traction rope 226
One end is connect with the end mechanical splice 21 of industrial robot 20, and the other end of x-axis forward direction load traction rope 226 successively bypasses the
Top, the bottom of the 4th fixed pulley 214 and the top of the 5th fixed pulley 215 of three fixed pulleys 213 are connect with lever 310.
In this way, the then static state of the six direction of the end mechanical splice 21 of achievable industrial robot 20 in three dimensions
Submissive performance test.Certainly, in other embodiments, position can also be arranged in each fixed pulley in fixed pulley group according to actual needs
It sets.
Specifically, static submissive performance testing device 10 further includes tension sensor 100 and displacement sensor.Pull sensing
Device 100 is used to detect loading direction and adjusts pulling force suffered by the force side of component.Displacement sensor is for detecting industrial machine
The displacement of the end mechanical splice 21 of people 20.Optionally, displacement sensor is laser tracking transducer, laser tracking transducer packet
Laser tracker 510 and laser target are included, laser target is set on the end mechanical splice 21 of industrial robot 20, laser tracking
Instrument 510 is for real-time tracing and acquires laser target target displacement information.Specifically, laser tracker 510 emits laser 30, when sharp
When the transmitting of light 30 to laser target, laser 30 is reflected back laser tracker 510, and laser tracker 510 obtains laser target target position
Move information.Since the diversity of laser is small, using laser tracking transducer as displacement sensor, range accuracy is higher.
Further, static submissive performance testing device 10 further includes end load cube head 600, and end loads cube head
600 are fixed at the end mechanical splice 21 of industrial robot 20, and loading direction adjusts the force side of component and end load is stood
The connection of square toes 600 and the Impact direction that cube head 600 is loaded for adjusting end, displacement sensor is for detecting industrial robot
The displacement of 20 end mechanical splice 21.Laser target is set on end load cube head 600.End, which loads cube head 600, to be had
There is biggish surface area, facilitates and connect at traction rope and the end mechanical splice 21 of industrial robot 20, also facilitate setting for target
It sets.
Further, static submissive performance testing device 10 further includes data-analyzing machine 710, data-analyzing machine 710 and drawing
Force snesor 100, displacement sensor are electrically connected, and data collection and analysis device 710 is by receiving tension sensor 100 and displacement
The testing result of sensor calculates the submissive performance of static state that analysis obtains industrial robot 20.Data-analyzing machine 710 can be to pulling force
The test result of sensor 100 and displacement sensor, which is collected, to summarize, and calculates analysis automatically, obtains industrial robot 20
Static submissive performance saves the artificial time for calculating analysis.Optionally, data-analyzing machine 710 can be computer, PLC or tool
There is the industrial personal computer etc. of Control card.
Further, static submissive performance testing device 10 further includes pulling force data Acquisition Instrument 720, pulling force data Acquisition Instrument
720 are electrically connected with tension sensor 100, data-analyzing machine 710, and pulling force data Acquisition Instrument 720 is for collecting pull sensing
The testing result of device 100, and the testing result of tension sensor 100 is passed into data-analyzing machine 710.Pulling force data Acquisition Instrument
720 are able to achieve the information transmitting between tension sensor 100 and data-analyzing machine 710.
Further, static submissive performance testing device 10 further includes the pulling force number being electrically connected with tension sensor 100
Word display instrument 730, pulling force digital indicator 730 are used to show the testing result of tension sensor 100.Setting convenient working people
The size of member's real time monitoring loading force, convenient for being adjusted to counterweights at different levels.
Further, static submissive performance testing device 10 further includes displacement sensing controller 740, displacement sensing controller
740 are electrically connected with displacement sensor, data-analyzing machine 710, and displacement sensing controller 740 is for command displacement sensor
Operating, displacement sensing controller 740 are also used to collect the testing result of displacement sensor, and by the testing result of displacement sensor
Pass to data-analyzing machine 710.Displacement sensing controller 740 is able to achieve the automatic control of the operation to displacement sensor, and energy
Realize that the information between displacement sensor and data-analyzing machine 710 is transmitted.In the present embodiment, displacement sensing controller 740 is sharp
Light tracking control unit.
The above-mentioned submissive performance testing device 10 of static state has at least the following advantages:
The Impact direction that the end mechanical splice 21 of industrial robot 20 is adjusted in component is adjusted by loading direction.Pass through
Loading force adjusts the stress size of the end mechanical splice 21 of the adjustable industrial robot 20 of component, to control industrial machine
The stress size of the end machinery mouth of people 20.Loading force adjusts component and is mainly connected by adjusting the force side of component with loading direction
The first order counterweight 320 on lever 310 and second level counterweight 330 connect adjusts the size of loading force.First order counterweight 320
Weight is greater than the weight of second level counterweight 330, and the number by increasing and decreasing first order counterweight 320 can tentatively adjust loading force, and
It can be further the location of on lever 310 by increasing and decreasing the number of second level counterweight 330 or changing second level counterweight 330
It is accurate to adjust loading force.Submissive 10 structure of performance testing device of the static state is simple, low in cost, without using complicated servo electricity
Machine or oil cylinder control loading force.In addition, the submissive performance testing device 10 of the static state is adjusting the direction of loading force and when size,
It is also more convenient to operate.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of submissive performance testing device of static state applied to industrial robot characterized by comprising
Loading direction adjusts component, and the loading direction adjusts the force side of component and the end mechanical splice of industrial robot connects
Connect and be used to adjust the Impact direction of the end mechanical splice of industrial robot；And
Loading force adjusts component, including lever, first order counterweight and second level counterweight, and the lever has fixed part and the thick stick
Bar can be rotated around the fixed part, and the force side that the loading direction adjusts component is connect with the lever, the first order weight
Code is hung on the lever, and the second level counterweight hangs on the lever and can move along the lever, and described the
The weight of class 1st weight is greater than the weight of the second level counterweight, and the first order counterweight and the second level counterweight are respectively positioned on institute
State the side that loading direction adjusts the force side of component.
2. the static state submissive performance testing device according to claim 1 applied to industrial robot, which is characterized in that also
Cube head is loaded including end, the end load cube head is fixed at the end mechanical splice of robot, the load side
It is connect to the force side for adjusting component with end load cube head and loads the stress of cube head for adjusting the end
Direction.
3. the static state submissive performance testing device according to claim 1 applied to industrial robot, which is characterized in that institute
Stating loading force and adjusting component further includes third level counterweight, and the third level counterweight is sheathed on the lever and can be along the thick stick
Bar is mobile, and the weight of the third level counterweight is less than the second level counterweight, the first order counterweight, the second level counterweight and
The third level counterweight is respectively positioned on the side that the loading direction adjusts the force side of component.
4. the static state submissive performance testing device according to claim 1 applied to industrial robot, which is characterized in that institute
Stating loading direction and adjusting component includes traction rope and fixed pulley group, and the fixed pulley group includes at least four fixed pulleys, described to lead
One end of messenger is connect with the end mechanical splice of the industrial robot, and the other end of the traction rope bypasses the fixed pulley
It is connect with the lever or the other end of the traction rope is directly connect with the lever, by the fixation for changing the fixed pulley
The Impact direction of the end mechanical splice of industrial robot can be changed in position.
5. the static state submissive performance testing device according to claim 4 applied to industrial robot, which is characterized in that with
The geometric center of the end mechanical splice of industrial robot is that origin establishes xyz coordinate system, and the fixed pulley group includes six fixed
Pulley, respectively the first fixed pulley, the second fixed pulley, third fixed pulley, the 4th fixed pulley, the 5th fixed pulley and the 6th are slided calmly
The line of centres of wheel, first fixed pulley and second fixed pulley is parallel with z-axis and is located at flat determined by z-axis and y-axis
In face；The line of centres of the third fixed pulley and the 4th fixed pulley is parallel with z-axis and is located at determined by z-axis and x-axis
In plane；5th fixed pulley and the equal position of the 6th fixed pulley and z-axis are tangent and be located at the industrial robot
The two sides of end mechanical splice or the 5th fixed pulley and the 6th fixed pulley are respectively positioned on the end of the industrial robot
It holds the lower section of mechanical splice and the 5th fixed pulley and the 6th fixed pulley is tangent with the negative direction of z-axis.
6. the static state submissive performance testing device according to any one of claim 1 to 5 applied to industrial robot,
It is characterized in that, further includes tension sensor and displacement sensor, the tension sensor is adjusted for detecting the loading direction
Pulling force suffered by the force side of component, institute's displacement sensors are used to detect the end mechanical splice of the industrial robot
Displacement.
7. the static state submissive performance testing device according to claim 6 applied to industrial robot, which is characterized in that institute
Displacement sensors are laser tracking transducer, and the laser tracking transducer includes laser tracker and laser target, described
Laser target is set on the end mechanical splice of the industrial robot, and the laser tracker is for real-time tracing and acquires sharp
Light target target displacement information.
8. the static state submissive performance testing device according to claim 6 applied to industrial robot, which is characterized in that also
Including data-analyzing machine, the data-analyzing machine is electrically connected with the tension sensor, institute's displacement sensors, the number
According to analyzer by the testing result of the reception tension sensor and institute's displacement sensors, calculates analysis and obtain industrial machine
The submissive performance of static state of people.
9. the static state submissive performance testing device according to claim 8 applied to industrial robot, which is characterized in that also
Including pulling force data Acquisition Instrument, the pulling force data Acquisition Instrument electrically connects with the tension sensor, the data-analyzing machine
It connects, the pulling force data Acquisition Instrument is used to collect the testing result of the tension sensor, and by the inspection of the tension sensor
It surveys result and passes to the data-analyzing machine.
10. the static state submissive performance testing device according to claim 8 applied to industrial robot, which is characterized in that
It further include displacement sensing controller, the displacement sensing controller and institute displacement sensors, the data-analyzing machine are electrical
Connection, the displacement sensing controller are used to control the operating of institute's displacement sensors, and the displacement sensing controller is also used to
The testing result of institute's displacement sensors is collected, and the testing result of displacement sensor is passed into data-analyzing machine.
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| CN201910178094.4A CN109794964A (en) | 2019-03-08 | 2019-03-08 | The submissive performance testing device of static state applied to industrial robot |
| US16/797,121 US11247331B2 (en) | 2019-03-08 | 2020-02-21 | Static compliance performance testing device applied to industrial robot |
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| CN201910178094.4A CN109794964A (en) | 2019-03-08 | 2019-03-08 | The submissive performance testing device of static state applied to industrial robot |
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| CN110274783A (en) * | 2019-07-22 | 2019-09-24 | 福建省特种设备检验研究院 | A kind of robot end's multidimensional power load maintainer and its to overall performance test method |
| CN110405807A (en) * | 2019-08-13 | 2019-11-05 | 福建省特种设备检验研究院 | Detection method based on specialized robot end effector integrated test system for performance |
| CN111300432A (en) * | 2020-04-08 | 2020-06-19 | 南京工程学院 | Industrial robot six-dimensional rigidity error compensation system and compensation method thereof |
| CN111351675A (en) * | 2020-03-30 | 2020-06-30 | 伯朗特机器人股份有限公司 | Industrial robot static compliance performance testing method |
| CN113561223A (en) * | 2021-05-14 | 2021-10-29 | 配天机器人技术有限公司 | Static compliance test system and test method |
| CN114235457A (en) * | 2021-12-20 | 2022-03-25 | 浙江谱麦科技有限公司 | Force loading system for detecting robot mechanical performance and system adjusting method |
| CN115635508A (en) * | 2022-09-24 | 2023-01-24 | 重庆智能机器人研究院 | Robot static compliance testing device and testing method |
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| CN112318552B (en) * | 2020-11-02 | 2024-03-12 | 华侨大学 | Pneumatic loading external force device for rigidity measurement of industrial robot |
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| CN113561223A (en) * | 2021-05-14 | 2021-10-29 | 配天机器人技术有限公司 | Static compliance test system and test method |
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| Publication number | Publication date |
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| US20200282556A1 (en) | 2020-09-10 |
| US11247331B2 (en) | 2022-02-15 |
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